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Draft Project Plan May 11-10: Autonomous UAV Competitio n

Client: Space Systems & Controls Laboratory (SSCL ) Advisor : Matthew Nelson. 491 Team Component. Anders Nelson (EE) anelson7@iastate.edu Mathew Wymore ( CprE ) mlwymore@iastate.edu Kale Brockman kaleb@iastate.edu Stockli Manuel stockli@iastate.edu Laura Uyttersprot

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Draft Project Plan May 11-10: Autonomous UAV Competitio n

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  1. Client: Space Systems & Controls Laboratory (SSCL) Advisor : Matthew Nelson 491 Team Component Anders Nelson (EE) anelson7@iastate.edu Mathew Wymore (CprE) mlwymore@iastate.edu Kale Brockman kaleb@iastate.edu StockliManuel stockli@iastate.edu Laura Uyttersprot laurau@iastate.edu KshiraNadarajan (CprE) kshira90@iastate.edu MazdeeMasud (EE) mmasud@iastate.edu Andy Jordan andyjobo@iastate.edu Karolina Soppela soppela@iastate.edu Draft Project Plan May 11-10: Autonomous UAV Competition 466 Team Component

  2. Background • Client: The Space Systems and Control Lab (SSCL) of Iowa State University • Team Composition: ECpE 491 and Engr 466(Multidisciplinary group) Senior Design Teams • Aim: To participate in the International Aerial Robotics Competition (IARC) August 2011 • http://iarc.angel-strike.com/ • Challenge: To penetrate a building, navigate through the corridors and complete another task like identifying a USB stick

  3. Competition Objectives • Autonomously fly UAV through 1m square window. • Navigate interior of building avoiding obstacles • Avoid walls or floors • Locate one marked room and enter • Locate and replace a USB flash drive in room • Navigate out of building back to the starting location • Accomplish all objectives within 10 minutes

  4. System Block Diagram

  5. 491 Team Component • Inertial Measurement Unit (IMU) • Accelerometer, Gyroscope • 6 Degrees of Freedom Measurement • External Measurement Sensors • IR, Sonar, or Laser • Camera Vision • Microcontroller • Communications • Transmitter, Receiver • Remote Processing • Power

  6. 466 Team Component • Platform for flight • Motors • Motor Controllers • Platform for electronics • Sensors mounts • Controller housing

  7. Functional requirements • 1.5kg Maximum Total Platform Weight • Battery Powered • Capable of >10 minutes of flight time • Rechargeable Batteries • Operate/Navigate in GPS-denied Environment • Operate Autonomously • With Remote Processing Unit • Remote Manual Kill Switch • Remain Airborne if RF Link is lost • RF Link capable of >40 meters • RF Link must be JAUS-Compliant • Programming on Microcontroller • Call functions for Remote Processing Unit

  8. Non-functional requirements • Financial • Economical and Affordable • Funded by SSCL • Installation/Manufacturing/Maintenance • Simple • Easy to maintain • Expandable (Object Recognition etc)

  9. Constraints and Technology Considerations • Weight • Batteries • Power draw mainly from motors for lift • Lift based on weight-completing interdependence • Communications • Low power on UAV but still have long enough range

  10. Tasks and Schedule

  11. Risks and Mitigation • Risk of crash • Microcontroller programmed to hold UAV steady if loss of link • Robust feedback controllers • Noise from sensors • Filters to remove noise • Communication with Engr 466 Team • Weekly meetings • Dropbox/Googledocs sharing

  12. Cost Estimate

  13. Questions ?

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